Development of a control algorithm for a tie-rod-actuating steer-by-wire system

Kim, C.-J.; Jang, Jae-Ho; Yu, Seung-Nam; Lee, S.-H.; Han, Chonghun; Hedrick, J. Karl

doi:10.1243/09544070jauto622

Cited by 13 publications

(5 citation statements)

References 5 publications

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“…Hence, it is urgent to study the control strategy to improve the road feeling of the SBW system. The road feeling control is to feed back the road condition to the driver, which controls the reaction torque that the steering wheel actuator generates [6].…”

Section: Introductionmentioning

confidence: 99%

The Fractional Order PID Method with a Fault Tolerant Module for Road Feeling Control of Steer-by-Wire System

Liu

Chen

et al. 2018

Mathematical Problems in Engineering

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To improve the road feeling of the steer-by-wire (SBW) system, a fractional order PID (proportion-integral-derivative) method with a fault tolerant module is proposed in this paper. Firstly, the overall road feeling control strategy of the SBW system is introduced, and then the mathematical model of road feeling control is established. Secondly, a fractional order PID (FOPID) controller is designed to control torque of the road feeling motor. Furthermore, genetic algorithm (GA) is applied to tune the FOPID controller’s parameters. Thirdly, a fault tolerant module aiming at potential failures of the motor’s torque sensor is studied to improve the reliability of the system. Kalman Filter (KF) algorithm is utilized in the fault tolerant module so as to detect failures of the motor’s torque sensor, and then fault tolerant module reconfigures the motor’s torque estimated by KF as a substitute when the torque sensor fails. Finally, simulations based on MATLAB are performed with the proposed control strategy to identify its performance, and the results demonstrate that the proposed control method is feasible and accurate.

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Section: Introductionmentioning

confidence: 99%

The Fractional Order PID Method with a Fault Tolerant Module for Road Feeling Control of Steer-by-Wire System

Liu

Chen

et al. 2018

Mathematical Problems in Engineering

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“…The road feeling control 3 is to feed back the road condition to the driver and it is actually to control the reaction torque that the steering wheel actuator generates. 4 Some researchers consider the reaction torque only on the steering wheel angle, 5 and on the foundation of their studying other researchers redesigned the road feeling by taking some new factors involved in driving state into consideration. 6 All these researches are to make drivers more aware of the road condition and improve the safety of driving.…”

Section: Introductionmentioning

confidence: 99%

Two-way H_∞ control method with a fault-tolerant module for steer-by-wire system

Zhang

Zhao

2016

Proceedings of the Institution of Mechanical Engineers, Part C:

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To improve the maneuverability, stability, and reliability of the steer-by-wire system, a two-way H∞ control method with a fault-tolerant module is proposed in this paper. First, a two-way H∞ control scheme is proposed. Two controllers are designed in this scheme: one is used as a feedback controller as a general practice to stabilize the system and detect the tracking error; the other is used as a feed forward controller to make the output of the system follow the driver’s steering intention rapidly and precisely. Second, a fault-tolerant module aiming at front wheel angle sensor which is an important feedback signal to the system is added to improve the reliability of the system. A revised Kalman filter is applied in the fault-tolerant module to reconfigure the front wheel angle as a reference value and a substitute when the sensor fails, thus replacing hardware redundancy by software redundancy in a cost-effective way. Lastly, simulations by Matlab/Simulink and CarSim software and hardware-in-the-loop experiments are conducted and effectiveness of the proposed control method is demonstrated by simulation and experimental results and numerical analyses.

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“…This is due to the fact that the steering system is the primary factor influencing the directional stability of a vehicle. Some researchers investigated the reliability and fault tolerance control of the SBW system as can be found in Cesiel et al (2006), Zhang et al (2009), Kim et al (2008), and Oh et al (2004) with real vehicle.…”

Section: Introductionmentioning

confidence: 99%

Hardware-in-the-loop simulation of steer-by-wire system in automotive vehicle

Amir¹,

Samad

2016

Int. j. adv. appl. sci

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Field test approach of steer-by-wire (SBW) technologies by using actual vehicle can be very dangerous. This is due to the fact that stability of the vehicle is very sensitive to the steering wheel input. Less optimum parameters of the steering controllers or system failure may lead to dangerous road accident. In this study, hardware-in-the-loop simulation (HiLS) is used to bridge the gap between simulation and experimentation of SBW system. In the proposed HiLS system, SBW test rig is set up to communicate in real time with 14 degree-of-freedom vehicle model. Proportional-integral-derivative control optimized with Ziegler-Nichols method is used to control the stepper motor of the SBW test rig. From simulation and experimental results, SBW system developed has the ability to closely follow the steering trajectory of the conventional steering system with acceptable errors. By using HiLS, both controller algorithm and the functionality of the steering actuator of SBW system can be tested in a semireal driving condition as preliminary testing.

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Development of a control algorithm for a tie-rod-actuating steer-by-wire system

Cited by 13 publications

References 5 publications

The Fractional Order PID Method with a Fault Tolerant Module for Road Feeling Control of Steer-by-Wire System

The Fractional Order PID Method with a Fault Tolerant Module for Road Feeling Control of Steer-by-Wire System

Two-way H_∞ control method with a fault-tolerant module for steer-by-wire system

Hardware-in-the-loop simulation of steer-by-wire system in automotive vehicle

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Development of a control algorithm for a tie-rod-actuating steer-by-wire system

Cited by 13 publications

References 5 publications

The Fractional Order PID Method with a Fault Tolerant Module for Road Feeling Control of Steer-by-Wire System

The Fractional Order PID Method with a Fault Tolerant Module for Road Feeling Control of Steer-by-Wire System

Two-way H∞ control method with a fault-tolerant module for steer-by-wire system

Hardware-in-the-loop simulation of steer-by-wire system in automotive vehicle

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Product

Resources

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Two-way H_∞ control method with a fault-tolerant module for steer-by-wire system